{"id":"https://openalex.org/W7167705576","doi":"https://doi.org/10.48550/arxiv.2607.06537","title":"UniLM-Nav: A Unified Framework for Zero-Shot Last-Mile Navigation","display_name":"UniLM-Nav: A Unified Framework for Zero-Shot Last-Mile Navigation","publication_year":2026,"publication_date":"2026-07-07","ids":{"openalex":"https://openalex.org/W7167705576","doi":"https://doi.org/10.48550/arxiv.2607.06537"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.06537","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06537","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2607.06537","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5140259753","display_name":"Zhuofan Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Zhuofan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084125556","display_name":"Tianxu Wang","orcid":"https://orcid.org/0009-0004-7640-9651"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Tianxu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140285389","display_name":"Guoxi Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Guoxi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140230122","display_name":"Yixiong Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Yixiong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011464832","display_name":"Xilin Wang","orcid":"https://orcid.org/0009-0009-4770-7082"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xilin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140281959","display_name":"Hongming Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Hongming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140275861","display_name":"Qing Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Qing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105989284","display_name":"S J Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Song-Chun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5140229396","display_name":"Lifeng Fan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan, Lifeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5056999921798706,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5056999921798706,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.15070000290870667,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.13449999690055847,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.7193999886512756},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6136000156402588},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5795999765396118},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5508999824523926},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5493999719619751},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4781999886035919},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.43950000405311584},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.43369999527931213},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.42399999499320984}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7412999868392944},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.7193999886512756},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6319000124931335},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6136000156402588},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5795999765396118},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5508999824523926},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5493999719619751},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4893999993801117},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.48330000042915344},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4781999886035919},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.43950000405311584},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.43369999527931213},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.42399999499320984},{"id":"https://openalex.org/C2776321320","wikidata":"https://www.wikidata.org/wiki/Q857525","display_name":"Annotation","level":2,"score":0.4007999897003174},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.36489999294281006},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3391000032424927},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.3253999948501587},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.3181000053882599},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.310699999332428},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.30469998717308044},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.29829999804496765},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2797999978065491},{"id":"https://openalex.org/C4554734","wikidata":"https://www.wikidata.org/wiki/Q593744","display_name":"Knowledge base","level":2,"score":0.2761000096797943},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.27570000290870667},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.25769999623298645},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.25450000166893005},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2538999915122986}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.06537","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06537","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.06537","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06537","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.6406491994857788}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Mobile":[0],"manipulation":[1,221],"requires":[2],"a":[3,8,28,32,65,90,102,149,196,204,210],"robot":[4,145,208],"to":[5,7,55,185,218],"navigate":[6],"target":[9,24,109],"object":[10,110],"or":[11,49,111],"receptacle":[12,112],"and":[13,83,127,144,188],"then":[14,118],"perform":[15],"intended":[16],"manipulation.":[17],"However,":[18],"reaching":[19],"the":[20,23,108,124,129,132,139,154,160,166,178,190],"vicinity":[21],"of":[22,180,192],"does":[25],"not":[26],"guarantee":[27],"manipulation-ready":[29,150],"base":[30,151],"pose,":[31],"problem":[33],"known":[34],"as":[35],"last-mile":[36,41,71,75],"navigation.":[37,72],"Prior":[38],"methods":[39],"for":[40,68,153],"navigation":[42,76],"either":[43],"rely":[44],"on":[45,138,159,203],"manual":[46],"pose":[47,152],"annotation":[48],"task-specific":[50],"training,":[51],"limiting":[52],"their":[53],"scalability":[54],"open-vocabulary":[56,70],"settings":[57],"with":[58,89,209],"fine-grained":[59],"spatial":[60],"constraints.":[61],"We":[62,156,199],"propose":[63],"UniLM-Nav,":[64],"unified":[66],"framework":[67],"zero-shot":[69],"UniLM-Nav":[73,99,158,202],"decomposes":[74],"into":[77,131],"view":[78,104,126],"selection,":[79],"task-conditioned":[80],"affordance":[81,121],"grounding,":[82],"geometry-aware":[84],"base-pose":[85],"reasoning,":[86],"all":[87],"resolved":[88],"shared":[91],"multimodal":[92],"large":[93],"language":[94],"model":[95],"(MLLM)":[96],"backend.":[97],"Specifically,":[98],"first":[100],"selects":[101],"reference":[103],"that":[105,177,189],"best":[106],"captures":[107],"from":[113],"recently":[114],"collected":[115],"observations.":[116],"It":[117],"grounds":[119],"task-relevant":[120],"point":[122],"in":[123],"selected":[125],"lifts":[128],"result":[130],"robot-centric":[133],"coordinate":[134],"frame.":[135],"Finally,":[136],"conditioned":[137],"grounded":[140],"affordance,":[141],"task":[142],"context,":[143],"geometry,":[146],"it":[147,164],"infers":[148],"robot.":[155],"evaluate":[157],"OVMM":[161],"benchmark,":[162],"where":[163],"outperforms":[165],"previous":[167],"state-of-the-art":[168],"method,":[169],"MoTo,":[170],"by":[171],"3.13":[172],"percentage":[173],"points.":[174],"Analyses":[175],"show":[176],"components":[179],"our":[181],"method":[182],"are":[183],"crucial":[184],"final":[186],"performance,":[187],"choice":[191],"MLLM":[193],"also":[194],"has":[195],"substantial":[197],"effect.":[198],"further":[200],"deploy":[201],"Unitree":[205,212],"B2":[206],"quadruped":[207],"6-DoF":[211],"Z1":[213],"manipulator,":[214],"validating":[215],"its":[216],"applicability":[217],"real-world":[219],"mobile":[220],"tasks.":[222]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-09T00:00:00"}